关键词: 输入饱和, 自适应逆控制, 鲁棒性

Abstract: To most part of the actuators, their inputs are restricted. As a result, the control performance will be deteriorated or failed, if the controlling signals are input directedly into the contralled object. A new constrained adaptive inverse control scheme is proposed for a system which input is saturated. The main idea is that the saturator and the original plant are regarded as a new plant which is used to model the controller. A Lyapunov function is constructed to derive the new weights updating algorithm for controller and guarantee the stability of the control system which leads to the least influences of saturation. The simulations of a watertanker temperature control system show the effectiveness of the scheme and the robustness against input noises.

Key words: adaptive inverse control, robustness0 , input saturation